Inspection device

ABSTRACT

There is provided an inspection device for inspecting an inner surface of a nozzle provided in a reactor vessel. The inspection device includes: a device frame, an inspection unit provided on the device frame, an inspection unit push-out moving mechanism for pushing out and moving the inspection unit to the inner surface of the nozzle, a rotation moving mechanism for rotating and moving the inspection unit, a calibration test unit arranged on the device frame for calibrating the inspection unit; and a calibration test unit forward/backward moving mechanism for moving the calibration test unit forward or backward in the direction along the central axis with regard to a track where the inspection unit makes push-out movement.

CROSS-REFERENCE TO RELATED ART

This application is a Divisional of U.S. patent application Ser. No.14/190,996, filed on Feb. 26, 2014, which claims benefit of priorityfrom Japanese Patent Application No. 2013-037608 filed Feb. 27, 2013,the entire contents of which are incorporated herein by reference.

BACKGROUND OF THE INVENTION 1. Field of the Invention

The present invention relates to an inspection method and inspectiondevice for inspecting the inner surface of a nozzle provided in areactor vessel of a nuclear power plant.

2. Description of the Related Art

For example, a nuclear power plant having a pressurized water reactor(PWR) uses light water, which serves as primary cooling water, as areactor coolant and neutron moderator, and makes it into ahigh-temperature and high-pressure water that does not boil throughoutthe reactor internal, and causes the high-temperature and high-pressurewater to flow into a steam generator, so that steam is generated by heatexchange, and this steam is caused to flow into a turbine generator togenerate power.

In such nuclear power plant, various kinds of structural objects in thepressurized water reactor are required to be inspected with a regularinterval in order to ensure sufficient level of safety and reliability.When each inspection is carried out, and a defect is found, then therequired portions related to the defect are repaired. For example, inthe pressurized water reactor, the main body of the reactor vessel hasan outlet nozzle for providing the primary cooling water to the steamgenerator and an inlet nozzle for retrieving the primary cooling waterof which heat has been exchanged by the steam generator. These nozzlesare connected, by means of welding, with the primary cooling water tubewhich is in communication with the steam generator. Since the nozzlesand the primary cooling water tube are made of different materials,safe-end tubes are connected therebetween by means of welding.

With a cutting method and a cutting device for an inner surface of anozzle of a reactor vessel as described in Patent Literature 1 (JapanesePatent No. 4444168), when a welded portion of the nozzle is determinedto have defective surface such as crack due to secular change, a cuttingdevice is inserted into the inside of the nozzle, and is positioned at acutting position, and the cutting device cuts the welded portion. Duringthe cutting process, the cutting position is determined with aneddy-current flaw detection sensor, and the inner surface shape of thenozzle is recorded with a displacement detection sensor, and the innersurface of the nozzle is cut on the basis of such data.

Patent Literature 1 indicates that the inner surface of the nozzle ofthe reactor vessel is repaired, and the device is hoisted by a crane andis inserted into the nozzle, and the cutting position is determined withthe eddy-current flaw detection sensor. When the eddy-current flawdetection sensor is calibrated in such repairing method, the device isneeded to be calibrated on a work floor of a nuclear reactor building ofa nuclear power plant before the device is inserted into the inside ofthe nozzle, and thereafter, the device is needed to be hoisted by acrane and inserted into the inside of the nozzle, and the cuttingposition is determined with the eddy-current flaw detection sensor atthat position, and thereafter, the device is needed to be hoisted by thecrane to bring the device back to the work floor, and the device isneeded to be calibrated. In this case, as described above, the reactorvessel forms a loop having the inlet nozzle and the outlet nozzle andconnected to one steam generator. Alternatively, in a nuclear powerplant having multiple steam generators, the reactor vessel includesmultiple inlet nozzles and outlet nozzles so as to form as many loops asthe number of steam generators. More specifically, it is necessary toperform the work for the multiple nozzles, which includes hoisting thedevice with a crane and inserting the device into the inside of thenozzle, and returning the device back to the work floor, and therefore,it takes a lot of time and the work efficiency may be reduced.

In an under-water eddy-current test device described in PatentLiterature 2 (Japanese Laid-open Patent Publication No. 7-218474), atest coil and a normal coil are attached to an operation head that movesin the upper/lower vertical direction along a fixed fuel rod and thatmoves in the forward/backward direction and the horizontal directionperpendicular to the upper/lower vertical direction, and a sensitivitycalibration test piece is provided in proximity thereto. During themeasuring process, the test coil is pushed out to the forward position,and is brought into contact with the fuel rod. On the other hand, whenthe sensitivity of the test coil is calibrated before the measurementprocess, the sensitivity calibration test piece is fixed with respect tothe horizontal direction movement of the operation head, and the testcoil is moved in the horizontal direction, so that it is brought intocontact with the sensitivity calibration test piece in a face to facemanner.

An eddy-current inspection device for fuel cladding described in PatentLiterature 3 (Japanese Patent No. 3378500) includes a chuck unit forholding a fuel cladding, a sensor holder unit for pushing an inspectionsensor against the center of the fuel cladding so as to be perpendicularthereto, and a zero calibration test piece unit for an inspectionsensor, wherein the zero calibration test piece unit includes a rotationmechanism, and during the calibration process, it is provided to be ableto move to the forward side of the inspection sensor.

In Patent Literature 2 and Patent Literature 3, the calibration testpiece is provided on the device, and therefore, the calibration can beperformed in the under-water environment where the inspection isperformed. However, in Patent Literature 2, during the measurementprocess, the test coil is pushed forward to be in contact with the fuelrod, and when the sensitivity of the test coil is calibrated, the testcoil is moved in the horizontal direction, and is brought into contactwith the sensitivity calibration test piece in a face to face manner.For this reason, the position of the test coil may be out of theposition where it faces the fuel rod, and when each environment haschanged, the calibration may not be performed accurately. In PatentLiterature 3, the zero calibration test piece unit has the rotationmechanism and is arranged to be able to move to the forward side of theinspection sensor during the calibration process. Therefore, when thedevice is arranged at the position where the inspection is performed,the zero calibration test piece unit cannot be arranged at the forwardside of the inspection sensor, and therefore, as a result, during thecalibration process, the position of the device needs to be changed fromthe forward side of the fuel cladding, and the environment would bechanged, which may make it impossible to accurately perform thecalibration.

SUMMARY OF THE INVENTION

The present invention is to solve the above problems, and it is anobject of the present invention to provide an inspection method and aninspection device capable of performing inspection and calibrationwithout moving the device from the processed position.

According to a first aspect of the present invention, there is provideda

According to a second aspect of the present invention, there is providedan inspection method for inspecting an inner surface of a nozzleprovided in a reactor vessel,

the inspection method including: inserting an inspection deviceincluding an inspection unit and a calibration test unit into inside ofthe nozzle; subsequently moving the calibration test unit forward orbackward with regard to a track where the inspection unit makes push-outmovement to the inner surface of the nozzle at a reference positionwhere the inspection device is inserted into the inside of the nozzle,and calibrating the inspection unit; and subsequently causing theinspection unit to inspect the inner surface of the nozzle.

According to a third aspect of the present invention, there is providedan inspection device for inspecting a body which is to be inspected, thebody being provided in a nuclear power plant, the inspection deviceincluding: a device frame installed at the reference position forinspecting the body; an inspection unit provided on the device frame,for inspecting the inspection target portion of the body; an inspectionunit push-out moving mechanism for pushing out and moving the inspectionunit to the inspection target portion while the device frame isinstalled at the reference position; a calibration test unit provided onthe device frame, for calibrating the inspection unit; and a calibrationtest unit forward/backward moving mechanism for moving the calibrationtest unit forward or backward with regard to a track where theinspection unit makes push-out movement in such a state that theinspection unit is installed at the reference position.

According to a fourth aspect of the present invention, there is providedan inspection device for inspecting an inner surface of a nozzleprovided in a reactor vessel, the inspection device including: a deviceframe inserted into inside of the nozzle; an inspection unit provided onthe device frame, for inspecting the inner surface of the nozzle; aninspection unit push-out moving mechanism for pushing out and moving theinspection unit to the inner surface of the nozzle while the deviceframe is installed in the inside of the nozzle; a rotation movingmechanism for rotating and moving the inspection unit about apredetermined central axis along a peripheral direction of the nozzlewhile the device frame is installed in the inside of the nozzle; acalibration test unit arranged on the device frame for calibrating theinspection unit; and a calibration test unit forward/backward movingmechanism for moving the calibration test unit forward or backward inthe direction along the central axis with regard to a track where theinspection unit makes push-out movement.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic configuration diagram illustrating an example of anuclear power plant;

FIG. 2 is a schematic diagram illustrating the installation state of aninspection device according to an embodiment of the present invention;

FIG. 3 is a sectional side view illustrating the inspection deviceaccording to an embodiment of the present invention;

FIG. 4 is a sectional side view illustrating another usage form of theinspection device according to an embodiment of the present invention;

FIG. 5 is a top view illustrating the inspection device according to anembodiment of the present invention;

FIG. 6 is a sectional view taken along A-A of FIG. 3 and FIG. 5;

FIG. 7 is a sectional view taken along B-B of FIG. 4;

FIG. 8 is a sectional view taken along C-C of FIG. 3.

FIG. 9 is a view taken along D-D of FIG. 3;

FIG. 10 is a view taken along E-E of FIG. 3;

FIG. 11 is a schematic view illustrating inspection procedure of theinspection device according to an embodiment of the present invention;

FIG. 12 is a schematic view illustrating inspection procedure of theinspection device according to an embodiment of the present invention;

FIG. 13 is a schematic view illustrating inspection procedure of theinspection device according to an embodiment of the present invention;

FIG. 14 is a schematic view illustrating inspection procedure of theinspection device according to an embodiment of the present invention;

FIG. 15 is a schematic view illustrating inspection procedure of theinspection device according to an embodiment of the present invention;

FIG. 16 is a top view illustrating a calibration test piece for a flawdetection sensor;

FIG. 17 is a side view illustrating the calibration test piece for theflaw detection sensor;

FIG. 18 is a side view illustrating the calibration test piece for theflaw detection sensor;

FIG. 19 is a top view illustrating another example of the calibrationtest piece for the flaw detection sensor;

FIG. 20 is a top view illustrating another example of the calibrationtest piece for the flaw detection sensor;

FIG. 21 is a top view illustrating a calibration test piece for animage-capturing sensor; and

FIG. 22 is a side view illustrating the calibration test piece for theimage-capturing sensor.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

Hereinafter, an embodiment according to the present invention will beexplained in detail with reference to drawings. It should be noted thatthis invention is not limited by the embodiment. Constituent elements inthe embodiment include those that can be easily replaced by a personskilled in the art or those that are substantially the same.

FIG. 1 is a schematic configuration diagram illustrating an example of anuclear power plant. The nuclear power plant as illustrated in FIG. 1includes a pressurized water reactor (PWR). This nuclear power plant isconfigured such that a reactor vessel 101 for a pressurized waterreactor, a pressurizing device 102, a steam generator 103, and a primarycooling water pump 104 in a reactor vessel 100 are connected in order bya primary cooling water tube 105, so that a circulation path for primarycooling water is made.

The reactor vessel 101 has a fuel assembly 120 contained therein in asealed manner, and is constituted by a main body of a reactor vessel 101a and a reactor vessel lid 101 b attached to the upper side thereof, sothat the fuel assembly 120 can be inserted thereinto or removedtherefrom. The main body of the reactor vessel 101 a has an inlet nozzle101 c and an outlet nozzle 101 d, which are provided at the upper sidethereof, for feeding and discharging the light water serving as primarycooling water. The outlet nozzle 101 d is connected to the primarycooling water tube 105 so as to be in communication with an inlet waterchamber 103 a of a steam generator 103. The inlet nozzle 101 c isconnected to the primary cooling water tube 105 so as to be incommunication with an outlet water chamber 103 b of the steam generator103.

The steam generator 103 is provided in such a manner that, at the lowerportion formed in a hemisphere shape, the inlet water chamber 103 a andthe outlet water chamber 103 b are separated by a separation plate 103c. The inlet water chamber 103 a and the outlet water chamber 103 b areseparated from the upper side of the steam generator 103 by a tube plate103 d provided at a ceiling portion thereof. At the upper side of thesteam generator 103, a heat transmission tube 103 e in an inverse Ushape is provided. The end portions of the heat transmission tube 103 eare supported by the tube plate 103 d so as to connect the inlet waterchamber 103 a and the outlet water chamber 103 b. The inlet waterchamber 103 a is connected to the primary cooling water tube 105 at theentrance side, and the outlet water chamber 103 b is connected to theprimary cooling water tube 105 at the outlet side. The steam generator103 is configured such that the upper end of the upper side of the steamgenerator 103 separated by the tube plate 103 d is connected to asecondary cooling water tube 106 a at the outlet side, and the sideportion of the upper side of the steam generator 103 is connected to asecondary cooling water tube 106 b at the entrance side.

In the nuclear power plant, the steam generator 103 is connected,outside of the reactor vessel 100, to a steam turbine 107 via secondarycooling water tubes 106 a, 106 b, so that the circulation path for thesecondary cooling water is made.

The steam turbine 107 includes a high pressure turbine 108 and a lowpressure turbine 109, and is connected to an electric power generator110. The high pressure turbine 108 and the low pressure turbine 109 areconnected to a moisture separator reheater 111 which branches off fromthe secondary cooling water tube 106 a. The low pressure turbine 109 isconnected to a condenser 112. The condenser 112 is connected to asecondary cooling water tube 106 b. As described above, the secondarycooling water tube 106 b is connected to the steam generator 103, andthe secondary cooling water tube 106 b extends from the condenser 112 tothe steam generator 103, and the secondary cooling water tube 106 bincludes a condenser pump 113, a low pressure feed heater 114, adeaerator 115, a main feed pump 116, and a high pressure feed heater117.

Therefore, in the nuclear power plant, the primary cooling water isheated in the reactor vessel 101 to be of a high temperature and highpressure, and while it is pressurized by the pressurizing device 102 sothat the pressure is maintained at a constant level, it is provided viathe primary cooling water tube 105 to the steam generator 103. In thesteam generator 103, heat is exchanged between the primary cooling waterand the secondary cooling water, so that the secondary cooling water isevaporated to become steam. The primary cooling water having been cooledafter the heat exchange is recovered by the primary cooling water pump104 via the primary cooling water tube 105, and is returned back to thereactor vessel 101. On the other hand, the secondary cooling water whichis made into steam as a result of the heat exchange is provided to thesteam turbine 107. With regard to the steam turbine 107, the moistureseparator reheater 111 removes moisture from the exhaust discharged fromthe high pressure turbine 108, and further heats it to make it intosuperheated state, and thereafter, feeds it into the low pressureturbine 109. The steam turbine 107 is driven by the steam of thesecondary cooling water, and the force of the steam turbine 107 istransmitted to the electric power generator 110, so that the electricpower is generated. The steam used for driving the turbine is dischargedto the condenser 112. The condenser 112 exchanges heat between coolingwater (for example, seawater) retrieved by a pump 112 b via a waterintake tube 112 a and the steam discharged from the low pressure turbine109, and the steam is condensed, so that it becomes back to saturatedliquid of a low pressure. The cooling water used for the heat exchangeis discharged from a discharge tube 112 c. The saturated liquid whichhas been condensed becomes the secondary cooling water, and is pumped tothe outside of the condenser 112 by the condenser pump 113 via thesecondary cooling water tube 106 b. Further, the secondary cooling waterpassing the secondary cooling water tube 106 b is heated by the lowpressure feed heater 114 with, for example, the low pressure steam bledfrom the low pressure turbine 109, and after the deaerator 115 removesimpurities such as dissolved oxygen and non-condensable gas (ammoniagas), the secondary cooling water is fed by the main feed pump 116, andthe high pressure feed heater 117 heats the secondary cooling waterwith, for example, high pressure steam bled from the high pressureturbine 108, and thereafter, high pressure steam is returned back to thesteam generator 103.

In the pressurized water reactor of the nuclear power plant configuredas described above, the reactor vessel 101 is configured such that theinlet nozzle 101 c and the outlet nozzle 101 d is connected to theprimary cooling water tube 105 as described above. Since the inletnozzle 101 c and the outlet nozzle 101 d and the primary cooling watertube 105 are made of different materials, a safe-end tube 121 isconnected therebetween by welding (groove welded portion 122) (see FIG.3 and FIG. 4).

For this reason, tensile stress may remain in the groove welded portion122 and the peripheral portion thereof, and it is necessary to alleviatethe stress. Therefore, a water jet peening device serving as a reactorrepairing device alleviates the tensile residual stress on the innersurfaces of the nozzles 101 c, 101 d which are the groove welded portion122 and the peripheral portion thereof, i.e., the target, thus makingthe tensile residual stress into compressive residual stress andpreventing stress corrosion crack. This water jet peening device emitshigh pressure water including cavitation bubbles onto the surface of themetal member in the water, and alleviates the tensile residual stress ofthe surface of the metal member, thus making the tensile residual stressinto the compressive residual stress.

When the water jet peening device alleviates the tensile residual stresson the inner surfaces of the nozzles 101 c, 101 d which are the groovewelded portion 122 and the peripheral portion thereof and making thetensile residual stress into the compressive residual stress, work isperformed by inserting this water jet peening device into the inside ofthe nozzles 101 c, 101 d. When the water jet peening is performed, theposition to which the water jet is emitted is inspected in order toidentify the position of the surface which is to be processed. In thepresent embodiment, the inspection device and the water jet peeningdevice are integrally provided. It should be noted that the inspectiondevice may be provided with any repairing device other than the waterjet peening device.

FIG. 2 is a schematic diagram illustrating installation state of theinspection device according to the present embodiment. FIG. 3 is asectional side view illustrating the inspection device according to thepresent embodiment. FIG. 4 is a sectional side view illustrating anotherusage form of the inspection device according to the present embodiment.FIG. 5 is a top view illustrating the inspection device according to thepresent embodiment. FIG. 6 is a sectional view taken along A-A of FIG. 3and FIG. 5. FIG. 7 is a sectional view taken along B-B of FIG. 4. FIG. 8is a sectional view taken along C-C of FIG. 3. FIG. 9 is a view takenalong D-D of FIG. 3. FIG. 10 is a view taken along E-E of FIG. 3. FIGS.11 to 15 are schematic views illustrating inspection procedure with theinspection device according to the present embodiment.

As illustrated in FIG. 2, an inspection device (water jet peeningdevice) 1 is installed upon being inserted into the inside of the inletnozzle 101 c or the outlet nozzle 101 d of the reactor vessel 101 (themain body of the reactor vessel 101 a) which is the body which is to beinspected. In the present embodiment, the inlet nozzle 101 c and theoutlet nozzle 101 d are examples of bodies which are to be inspected bythe inspection device, but the bodies which are to be inspected by theinspection device are not limited thereto.

In the nuclear power plant, a nuclear reactor building (not shown) isprovided with a work floor 151, and a cavity 152 is provided below thework floor 151, and cooling water is accumulated in the cavity 152. Thecavity 152 has the reactor vessel 101 provided therein, and the reactorvessel 101 is suspended and supported. In the nuclear reactor building,a pair of guide rails 155 which are parallel to both sides of the cavity152 are installed, and a mobile crane 156 is supported by the guiderails 155 in a movable manner. The mobile crane 156 is provided with anelectric hoist 157 that can move in one direction in the horizontaldirection (the horizontal direction in FIG. 2) and that can move in theother direction crossing (perpendicular to) the one direction in thehorizontal direction (direction perpendicular to FIG. 2). This electrichoist 157 has a hook 158 that can ascend and descend along the verticaldirection. An installation pole 159 is suspended via this hook 158.

The installation pole 159 is a long-length member that has apredetermined length, and the lower end portion of the installation pole159 can be connected to the inspection device 1. This installation pole159 is constituted by multiple divided poles, and both of them can befastened with multiple swing bolts by bringing the flange units of theupper and lower ends thereof into contact with each other.

As illustrated in FIGS. 3 to 5, the nozzles 101 c, 101 d have an openingportion 101 f in a wall surface 101 e which is inside of the reactorvessel 101, and is arranged to extend in the horizontal direction (orincluding some component of the horizontal direction). The inspectiondevice 1 is inserted from the opening portion 101 f into the inside ofthe nozzles 101 c, 101 d and installed there. In the present embodiment,the installation pole 159 is used as an installation jig used forinstalling the inspection device 1, but the configuration is not limitedthereto. For example, wires, cables, ropes, and the like may be used.

This inspection device 1 has a device frame 2 coupled with theinstallation pole 159. The device frame 2 has such an external shapethat can be inserted into the inside of the nozzles 101 c, 101 d, and isformed to have a cylindrical shape extending along the insertiondirection T. The device frame 2 mainly includes external abutmentmembers 3, an internal abutment member 4, a suction unit 5, an abutmentdetection unit 6, an image-capturing unit 7, an injection nozzle 8, anozzle push-out moving mechanism 9, a rotation moving mechanism 15, aslide moving mechanism 18, an inspection unit 20, an inspection unitpush-out moving mechanism 21, a calibration test unit 22, and acalibration test unit forward/backward moving mechanism 23.

As illustrated in FIGS. 3 to 5, the external abutment member 3 comesinto contact with the wall surface 101 e when the device frame 2 isinserted into a predetermined position in the inside of the nozzles 101c, 101 d. As illustrated in FIGS. 3 to 6, the external abutment member 3is attached to a support member 13 fixed in an extending manner to theoutside of the device frame 2, and the external abutment member 3 isattached so that the front end of the external abutment member 3 facesthe front end side at which the device frame 2 is inserted (in theinsertion direction T) in a protruding manner. In the presentembodiment, two external abutment members 3 are provided at the upperside of the support member 13 in such a manner that each one of the twoexternal abutment members 3 is arranged at the right and the left, andfour external abutment members 3 are provided at the lower side of thesupport member 13 in such a manner that two external abutment members 3are arranged at each of the right and the left, which means that thereare totally six external abutment members 3 provided.

As illustrated in FIGS. 3 and 5, by providing spacers 3 a or notproviding the spacers 3 a, the upper two external abutment members 3 andthe slightly upper two of the lower external abutment members 3 areconfigured to be able to change the position of the front end to thefront end side at which the device frame 2 is inserted. As illustratedin FIGS. 3 to 5, the slightly lower two of the lower external abutmentmembers 3 are configured to be movable so that the position of the frontend to the front end side at which the device frame 2 is inserted can bechanged by an actuator (air pressure cylinder) 3 b. This is because theshapes of the opening portions 101 f of the inlet nozzle 101 c and theoutlet nozzle 101 d are different, and the outlet nozzle 101 d is formedwith a protrusion 101 g, and the slightly lower two of the lowerexternal abutment members 3 are thus configured to be able to cope withthe presence of the protrusion 101 g and the absence of the protrusion101 g.

As described above, the external abutment members 3 are provided, thusbeing able to determine the position in the state where the device frame2 is inserted into the predetermined position inside of the nozzles 101c, 101 d.

As illustrated in FIGS. 3 to 5, 7, and 8, the internal abutment member 4is a portion where the device frame 2 is inserted into the inside of thenozzles 101 c, 101 d. The internal abutment members 4 are provided atmultiple positions around the device frame 2 (central axis S), and theinternal abutment members 4 are provided to protrude so that the frontend faces the outside in the radial direction. As illustrated in FIG. 5,in the present embodiment, four internal abutment members 4 are providedat the right and the left of the upper side with respect to the centerof the device frame 2 in such a manner that two internal abutmentmembers 4 are each arranged at the front and the back in the insertiondirection T of the device frame 2, and two internal abutment members 4are provided in such a manner that each one of the two internal abutmentmembers 4 is arranged at either side of the device frame 2 at a heightclose to the central position, and as illustrated in FIGS. 4 and 7, oneinternal abutment member 4 is provided at the lower side of the centralposition of the device frame 2, which means that there are totally seveninternal abutment members 4 provided. These internal abutment members 4are configured to be able to move forward and backward in the radiusdirection about the device frame 2 by an actuator (air pressurecylinder) 4 a. The internal abutment member 4 moved forward by theactuator 4 a comes into contact with the inner surfaces of the nozzles101 c, 101 d.

As illustrated in FIGS. 4 and 7, the internal abutment member 4 providedat the lower side of the central position of the device frame 2 islocated below the two internal abutment members 4 arranged at the frontin the insertion direction T of the device frame 2 which are provided ateach of the right and the left at the upper side, and when inserted intothe inlet nozzle 101 c with the five portions including the two internalabutment members 4 arranged at both sides at the height close to thecentral position of the device frame 2, the internal abutment member 4provided at the lower side of the central position of the device frame 2is used so that the central position of the device frame 2 is alignedwith the central position of the inlet nozzle 101 c. On the other hand,as illustrated in FIGS. 3 and 8, at the back side of the internalabutment member 4 at the lower side of the central position of thedevice frame 2, a tire 4 b rotating in the insertion direction T isprovided at the internal abutment member 4 that does not move forward orbackward. This tire 4 b located below the two internal abutment members4 at the rear in the insertion direction T of the device frame 2 whichare provided at the right and the left of the upper side, and wheninserted into the outlet nozzle 101 d with the five portions includingthe two internal abutment members 4 arranged at both sides at the heightclose to the central position of the device frame 2, this tire 4 b isused so that the central position of the device frame 2 is aligned withthe central position of the outlet nozzle 101 d. This is because theshape of the hole of the inlet nozzle 101 c and the shape of the hole ofthe outlet nozzle 101 d are different, and an inclination is formed onthe inner surface of the inlet nozzle 101 c so that the diameter becomessmaller in the inside, but the outlet nozzle 101 d does not have thisinclination, and the central position of the device frame 2 is alignedwith the central position of the nozzles 101 c, 101 d in accordance withthe presence of this inclination or the absence of this inclination.

As described above, since the internal abutment members 4 are provided,the central position of the device frame 2 can be aligned with thecentral position of the nozzles 101 c, 101 d.

As illustrated in FIG. 5, the suction unit 5 is provided so that thesuction unit 5 can be adhered to the wall surface 101 e when the deviceframe 2 is inserted into the predetermined position inside of thenozzles 101 c, 101 d. As illustrated in FIGS. 5 and 6, the suction unit5 is attached to the support member 13 in such a manner that the suctionsurface faces the front end side to which the device frame 2 is inserted(insertion direction T). In the present embodiment, two suction units 5are provided in such a manner that each of the two suction units 5 isarranged at the right and the left of the upper side of the supportmember 13, and two suction units 5 are provided in such a manner thateach of the two suction units 5 is arranged at the right and the left ofthe lower side of the support member 13, which means that there aretotally four suction units 5 provided. As illustrated in FIG. 5, thesuction unit 5 is provided to be able to move along the insertiondirection T by an actuator (air pressure cylinder) 5 a. As illustratedin FIG. 5, the suction unit 5 is arranged to be able to swing in theright and left direction with respect to a rod 5 b of the actuator 5 aso as to cope with the inclination of the wall surface 101 e.

As described above, since the suction unit 5 is provided, the deviceframe 2 can be maintained in such a state that the device frame 2inserted into the inside of the nozzles 101 c, 101 d is positioned bythe external abutment members 3, and the device frame 2 can bemaintained in such a state that the central position of the device frame2 is aligned with the central position of the nozzles 101 c, 101 d bythe internal abutment members 4.

As illustrated in FIG. 5, when the external abutment member 3 comes intocontact with the wall surface 101 e, the abutment detection unit 6detects this. As illustrated in FIGS. 5 and 6, the abutment detectionunit 6 is arranged at the side portion of the upper external abutmentmember 3 with respect to the support member 13, and is attached in sucha manner that the front end of a contact shoe 6 a faces the front endside to which the device frame 2 is inserted (insertion direction T).The contact shoe 6 a is provided to be able to move along the insertiondirection T with respect to a casing 6 b, and is urged by a spring (notshown) so as to protrude in the insertion direction T at all times. Thecasing 6 b has a proximity sensor (not shown) provided therein, and whenthe contact shoe 6 a moves in a direction opposite to the insertiondirection T, the proximity sensor detects the contact shoe 6 a thusmoved. The abutment detection unit 6 is configured such that, when theexternal abutment member 3 comes into contact with the wall surface 101e, the contact shoe 6 a comes into abutment with the wall surface 101 eat the same time and moves in the direction opposite to the insertiondirection T, and this is detected by the proximity sensor, and theabutment detection unit 6 detects this as the abutment of the externalabutment member 3 onto the wall surface 101 e.

As described above, since the abutment detection unit 6 is provided, thestate of abutment of the external abutment member 3 onto the wallsurface 101 e can be recognized. More specifically, the fact that thedevice frame 2 inserted into the inside of the nozzles 101 c, 101 d ispositioned by the external abutment members 3 can be recognized.

As illustrated in FIGS. 3, 4 and 6, totally four image-capturing units 7are provided on the support member 13 in such a manner that each one ofthe four image-capturing units 7 is arranged at the upper side, thelower side, the left, and the right of the device frame 2. Theimage-capturing unit 7 includes a camera 7 a and an illumination 7 b,and each is arranged to face the front end side to which the deviceframe 2 is inserted (insertion direction T). This image-capturing unit 7captures, from the rear end side from which the device frame isinserted, an image of the front end side to which the device frame 2 isinserted into the nozzles 101 c, 101 d.

As described above, since the image-capturing unit 7 is provided, thestate of the device frame 2 inserted into the nozzles 101 c, 101 d canbe monitored.

Therefore, when the device frame 2 is inserted into the nozzles 101 c,101 d, such work is done while a video taken by the image-capturing unit7 is watched on a monitor (not shown) provided on the work floor 151,and when a detection signal of the abutment detection unit 6 is input,it is recognized that the external abutment member 3 comes into contactwith the wall surface 101 e. Thereafter, the internal abutment members 4are brought into contact with the inner surfaces of the nozzles 101 c,101 d, and the suction unit 5 is adhered to the wall surface 101 e ofthe nozzles 101 c, 101 d.

The injection nozzle 8 emits water jet onto the inner surfaces of thenozzles 101 c, 101 d. As illustrated in FIGS. 3, 4 and 9, the injectionnozzle 8 is arranged on the support unit 14 provided at the front endside to which the device frame 2 is inserted, so that an injection port8 a emitting the water jet faces the inner surfaces of the nozzles 101c, 101 d.

As illustrated in FIGS. 3 and 4, the support unit 14 is supported on thedevice frame 2 so as to be able to rotate about the central axis S (thecentral axis of the nozzles 101 c, 101 d) of the device frame 2. Morespecifically, the support unit 14 is supported by the rotation movingmechanism 15. The rotation moving mechanism 15 has a rotation shaft unit15 a. This rotation shaft unit 15 a is attached to the support unit 14,and is supported by the device frame 2 so as to be able to rotate aboutthe central axis S. The rotation shaft unit 15 a is formed in acylindrical shape extending along the central axis S, and a driven gearwheel 15 b is attached to the external periphery thereof. The drivengear wheel 15 b meshes with a driving gear wheel 15 d provided on theoutput shaft of a rotation motor 15 c fixed to the device frame 2. Therotation moving mechanism 15 rotates the rotation shaft unit 15 a whenthe rotation of the driving gear wheel 15 d is transmitted to the drivengear wheel 15 b thanks to the rotation motor 15 c driving. Therefore,the support unit 14 supported by the rotation shaft unit 15 a rotateswith the injection nozzle 8. As a result, the injection nozzle 8 rotatesand moves along a predetermined movement track about the central axis S.

As described above, the injection nozzle 8 is provided the support unit14 so that the injection port 8 a emitting water jet faces the innersurfaces of the nozzles 101 c, 101 d. Therefore, the injection nozzle 8rotated and moved by the rotation moving mechanism 15 rotates and movesalong the predetermined movement track along the peripheral direction ofthe nozzles 101 c, 101 d while the injection port 8 a faces the innersurfaces of the nozzles 101 c, 101 d. More specifically, when therotation angle in the vertically downward direction is zero degrees, thedirection of the injection port 8 a of the injection nozzle 8 passes arotation angle of 180 degrees in the vertically upward direction, androtates 360 degrees along the peripheral direction of the nozzles 101 c,101 d. The movement position of the injection port 8 a and theinspection unit 20 explained later (flaw detection sensor 20A andimage-capturing sensor 20B) in this movement track are detected by anozzle position detection unit (not shown) provided in the rotationmoving mechanism 15. In the present embodiment, the nozzle positiondetection unit is such that the rotation motor 15 c is configured as theservo motor, and therefore, the movement position of the injection port8 a and the inspection unit 20 (the flaw detection sensor 20A and theimage-capturing sensor 20B) along the movement track is detected.

As illustrated in FIGS. 3 and 4, in the rotation moving mechanism 15explained above, a high pressure water providing tube 16 for providinghigh pressure water to the injection nozzle 8 is arranged inside of therotation shaft unit 15 a. This high pressure water providing tube 16 isprovided in the rotation shaft unit 15 a to extend along the centralaxis S from the rear end side from which the device frame 2 is inserted,and a swivel bearing 17 is interposed at the extension end portionthereof. The high pressure water providing tube 16 extends from theswivel bearing 17 to the upper side, and as illustrated in FIG. 2, thehigh pressure water providing tube 16 is connected to a high pressurewater pump 160 for feeding the high pressure water installed on the workfloor 151. More specifically, the high pressure water fed by the highpressure water pump 160 passes the high pressure water providing tube16, and is provided to the injection nozzle 8, and the high pressurewater is emitted as water jet from the injection port 8 a to the innersurfaces of the nozzles 101 c, 101 d. Then, the injection nozzle 8 isrotated about the central axis S by the rotation moving mechanism 15, sothat the water jet is emitted onto the inner surface along theperipheral direction of the nozzles 101 c, 101 d. When the rotationshaft unit 15 a is rotated by the rotation moving mechanism 15, the highpressure water providing tube 16 provided therein also rotatestherewith, but since the swivel bearing 17 is interposed therein, thiscan prevent the high pressure water providing tube 16 from being kinked.

As illustrated in FIGS. 3 and 4, the support unit 14 is supported on thedevice frame 2 so as to be able to slide and move along the central axisS of the device frame 2 (the central axis of the nozzles 101 c, 101 d).More specifically, the support unit 14 is supported by the slide movingmechanism 18 provided inside of the device frame 2. As illustrated inFIGS. 3 to 5, 7, and 8, the slide moving mechanism 18 includes a sliderail 18 a, a slide base 18 b, a slider 18 c, a ball screw 18 d, a nutunit 18 e, and a slide motor 18 f. The slide rails 18 a extend inparallel to the central axis S of the device frame 2, and the pair ofslide rails 18 a are provided at the right and the left. The slide base18 b is supported by the slide rail 18 a in such a manner that the slidebase 18 b can move in the direction in which the slide rail 18 aextends. The slider 18 c is attached via the slide rail 18 a, and isfixed to the slide base 18 b. The ball screw 18 d is provided to extendalong the central axis S of the device frame 2 in parallel to the sliderail 18 a, and is supported on the device frame 2 to be able to rotateabout the center of an axis parallel to the central axis S. The nut unit18 e is screwed to this ball screw 18 d. The slide motor 18 f is coupledwith the ball screw 18 d, and the ball screw 18 d is rotated. The slidemoving mechanism 18 drives the slide motor 18 f to rotate the ball screw18 d, whereby the nut unit 18 e as well as the slider 18 c move in thedirection in which the ball screw 18 d extends (the direction parallelto the central axis S) with the slide base 18 b. This slide base 18 b isattached to the rotation shaft unit 15 a of the rotation movingmechanism 15 described above supporting the support unit 14. Morespecifically, the rotation shaft unit 15 a moves in the directionparallel to the central axis S together with the slide base 18 b andwith the support unit 14 supporting the injection nozzle 8. As a result,the injection nozzle 8 slides and moves along the central axis S.

By the way, as described above, the rotation shaft unit 15 a rotatesabout the central axis S, and is attached in such a manner as to allowrotation with respect to the slide base 18 b. The rotation shaft unit 15a is provided in such a manner that the driven gear wheel 15 b can movealong the central axis S. The driven gear wheel 15 b is restricted frommoving along the central axis S while meshing with the driving gearwheel 15 d is maintained. For this reason, the transmission of drivingfor rotating the rotation shaft unit 15 a is maintained at all time whenthe slide moving mechanism 18 slides and moves the rotation shaft unit15 a. More specifically, the rotation shaft unit 15 a is provided to beable to rotate itself and slide and move along the central axis S.

The nozzle push-out moving mechanism 9 is to push out and move theinjection nozzle 8 along the direction in which the water jet is emittedfrom the injection port 8 a. As illustrated in FIG. 9, the nozzlepush-out moving mechanism 9 is provided on the support unit 14, andincludes slide rails 9 a, sliders 9 b, a slide base 9 c, and actuators 9d. The pair of slide rails 9 a are provided to extend in the directionperpendicular to the central axis S. The slider 9 b is supported so asto be able to move in the direction in which the slide rails 9 a extend.The slide base 9 c is supported by the sliders 9 b, and is provided tobe able to move in the direction in which the slide rails 9 a extend.The injection nozzle 8 is fixed to the slide base 9 c in such a mannerthat the injection port 8 a is in the direction in which the slide rails9 a extend. The actuators 9 d are provided on the support unit 14 sothat the actuators 9 d are arranged on the slide rails 9 a,respectively, and the actuators 9 d are coupled with the slide base 9 c.The actuators 9 d are to move the slide base 9 c in the direction inwhich the slide rails 9 a extend, and in the present embodiment, theactuator 9 d is made of an air pressure cylinder. However, the actuator9 d is not limited to the air pressure cylinder. Anything may beemployed as long as it moves the slide base 9 c in the direction inwhich the slide rails 9 a extend. The nozzle push-out moving mechanism 9drives the actuators 9 d to move the slide base 9 c with the injectionnozzle 8 in the direction perpendicular to the central axis S. Morespecifically, the nozzle push-out moving mechanism 9 pushes out andmoves the injection port 8 a of the injection nozzle 8 so as to bringthe injection port 8 a of the injection nozzle 8 close to the innersurfaces of the nozzles 101 c, 101 d or move the injection port 8 a ofthe injection nozzle 8 away from the inner surfaces of the nozzles 101c, 101 d in such a state that the injection port 8 a of the injectionnozzle 8 faces the inner surfaces of the nozzles 101 c, 101 d. As aresult, the emission distance of the water jet which is the distancefrom the injection port 8 a to the inner surfaces of the nozzles 101 c,101 d is configured. With regard to this emission distance of the waterjet, 130 mm±10 mm is a predetermined distance.

Therefore, while the device frame 2 is inserted into the inside of thenozzles 101 c, 101 d by the external abutment members 3, the internalabutment members 4, and the suction units 5, the slide moving mechanism18 moves the injection nozzle 8 forward or backward so that theinjection port 8 a is at the position where it faces a predeterminedinner surfaces of the nozzles 101 c, 101 d where the water jet peeningis performed. Thereafter, the nozzle push-out moving mechanism 9 pushesout and moves the injection nozzle 8 so as to attain the emissiondistance. Thereafter, while the water jet is emitted from the injectionport 8 a of the injection nozzle 8, the rotation moving mechanism 15rotates and moves the injection nozzle 8. Accordingly, the water jetpeening is performed on the predetermined inner surfaces of the nozzles101 c, 101 d.

In the present embodiment, the inspection unit 20 inspects thepredetermined inner surface (groove welded portion 122) of the nozzles101 c, 101 d where the water jet peening is performed. As illustrated inFIGS. 3 to 5, the inspection unit 20 is provided on the support unit 14.Therefore, the inspection unit 20 is rotated and moved about the centralaxis S by the rotation moving mechanism 15 explained above, and is slidand moved about the central axis S by the slide moving mechanism 18.This inspection unit 20 includes flaw detection sensors 20A and animage-capturing sensor 20B. The flaw detection sensor 20A comes intocontact with the inner surfaces of the nozzles 101 c, 101 d and performsflaw detection inspection, and in the present embodiment, the flawdetection sensor 20A is an eddy-current flaw detection sensor, and theflaw detection sensor 20A is rotated and moved about the central axis Sby the rotation moving mechanism 15, so that the flaw detection sensor20A moves along the peripheral direction with respect to the innersurfaces of the nozzles 101 c, 101 d to perform flaw detection. In thepresent embodiment, multiple flaw detection sensors 20A (two flawdetection sensors 20A) are provided in a row so as to be along theperipheral direction of the inner surfaces of the nozzles 101 c, 101 dwhich are to be inspected in the present embodiment. The image-capturingsensor 20B captures images of the inner surfaces of the nozzles 101 c,101 d so as to visually inspect them, and the image-capturing sensor 20Bis rotated and moved about the central axis S by the rotation movingmechanism 15, so that the image-capturing sensor 20B captures imagesupon moving along the peripheral direction with respect to the innersurfaces of the nozzles 101 c, 101 d. Although not clearly shown in thedrawings, the inspection unit 20 has an illumination for illuminatingthe portion where images are taken by the image-capturing sensor 20B.

The inspection unit push-out moving mechanism 21 pushes out and movesthe inspection unit 20 to the inner surfaces of the nozzles 101 c, 101d. As illustrated in FIG. 9, the inspection unit push-out movingmechanism 21 is provided on the support unit 14, and includes sliderails 21 a, a slider 21 b, a slide base 21 c, and an actuator 21 d. Thepair of slide rails 21 a are provided to extend the directionperpendicular to the central axis S, and are formed by extending theslide rails 9 a of the nozzle push-out moving mechanism 9 explainedabove. The slider 21 b is supported to be able to move in the directionin which the slide rails 21 a extend. The slide base 21 c is supportedby the slider 21 b, and is provided to be able to move in the directionin which the slide rails 21 a extend. The flaw detection sensor 20A (seeFIG. 10) and the image-capturing sensor 20B which are the inspectionunit 20 are attached to the slide base 21 c. The actuator 21 d isarranged on the support unit 14 so as to be arranged at a side portionof one of the slide rails 21 a, and is coupled with the slide base 21 c.The actuator 21 d is to move the slide base 21 c in the direction inwhich the slide rails 21 a extend, and in the present embodiment, theactuator 21 d is made of an air pressure cylinder. However, the actuator21 d is not limited to the air pressure cylinder. Anything may beemployed as long as it moves the slide base 21 c in the direction inwhich the slide rails 21 a extend. The inspection unit push-out movingmechanism 21 drives the actuator 21 d to move the slide base 21 c aswell as the inspection unit 20 (the flaw detection sensor 20A and theimage-capturing sensor 20B) in the direction perpendicular to thecentral axis S. The direction of this push-out movement is a directionin which the inspection unit 20 performs the inspection. In a case ofthe flaw detection sensor 20A, the direction of this push-out movementis a direction in which the surface in contact with the inner surfacesof the nozzles 101 c, 101 d faces. In a case of the image-capturingsensor 20B, the direction of this push-out movement is a direction inwhich images of the inner surfaces of the nozzles 101 c, 101 d aretaken. More specifically, the inspection unit push-out moving mechanism21 pushes out and moves the inspection unit 20 so that the inspectionunit 20 comes closer to the inner surfaces of the nozzles 101 c, 101 dor the inspection unit 20 moves away from the inner surfaces of thenozzles 101 c, 101 d.

As illustrated in FIGS. 9 and 10, the inspection unit push-out movingmechanism 21 includes a flaw detection sensor push-out moving mechanism21A for pushing out and moves the flaw detection sensors 20A alone andan image-capturing sensor push-out moving mechanism 21B for pushing outand moves the image-capturing sensor 20B alone.

As illustrated in FIG. 10, the flaw detection sensor push-out movingmechanism 21A is provided on the slide base 21 c, and includes a fixedbase 21Aa, slide rails 21Ab, sliders 21Ac, actuators 21Ad, and a slidebase 21Ae. The fixed base 21Aa is fixed to the slide base 21 c. Theslide rails 21Ab are in parallel to the slide rails 9 a, and the pair ofslide rails 21Ab are provided to extend in the direction perpendicularto the central axis S (see FIG. 3 to FIG. 5). The sliders 21Ac aresupported to be able to move in the direction in which the slide rails21Ab extend. The actuator 21Ad is fixed to the fixed base 21Aa, and iscoupled with the slide base 21Ae. The actuator 21Ad is to move the slidebase 21Ae in the direction in which the slide rails 21Ab extend, and inthe present embodiment, the actuator 21Ad is made of an air pressurecylinder. However, the actuator 21Ad is not limited to the air pressurecylinder. Anything may be employed as long as it moves the slide base21Ae in the direction in which the slide rails 21Ab extend. The slidebase 21Ae supports the flaw detection sensors 20A. Multiple flawdetection sensors 20A (two flaw detection sensors 20A) are provided in arow along the peripheral direction of the inner surfaces of the nozzles101 c, 101 d which is the inspection target portion as described above,and the flaw detection sensors 20A are supported on a sensor firstsupport units 20Aa, respectively, so that each of the flaw detectionsensors 20A incline in the peripheral direction. Each of the sensorfirst support units 20Aa is integrally attached to a sensor base 20Ab.The sensor base 20Ab is supported so that both ends of the sensor base20Ab is supported by a sensor second support units 20Ac so that thesensor base 20Ab inclines about the axial center perpendicular to theslide rail 21Ab and in the direction in which the central axis Sextends. The sensor second support units 20Ac are attached to the slidebase 21Ae. The sensor second support units 20Ac are supported on theslide base 21Ae with elasticity given by a spring (not shown) and so asto be able to move in the direction in which the slide rails 21Abextend. More specifically, the flaw detection sensors 20A freely inclinein the direction in which the central axis S extends and in theperipheral direction thanks to the sensor first support unit 20Aa andthe sensor second support unit 20Ac, and are supported in such a manneras to be urged by the spring to be in contact with the inner surfaces ofthe nozzles 101 c, 101 d by following the shapes of the inner surfacesof the nozzles 101 c, 101 d. The flaw detection sensor push-out movingmechanism 21A drives the actuator 21Ad to push out and move the slidebase 21Ae as well as the flaw detection sensors 20A in the directionperpendicular to the central axis S.

As illustrated in FIG. 9, the image-capturing sensor push-out movingmechanism 21B is provided on the slide base 21 c, and includes anactuator 21Ba and a slide base 21Bb. The actuator 21Ba is fixed to theslide base 21 c, and is coupled with the slide base 21Bb. The actuator21Ba is to move the slide base 21Bb in the direction in which the sliderails 21 a extend, and in the present embodiment, the actuator 21Ba ismade of an air pressure cylinder. However, the actuator 21Ba is notlimited to the air pressure cylinder. Anything may be employed as longas it moves the slide base 21Bb in the direction in which the sliderails 21 a extend. The slide base 21Bb supports the image-capturingsensor 20B. The image-capturing sensor push-out moving mechanism 21Bdrives the actuator 21Ba to push out and move the slide base 21Bb aswell as the image-capturing sensor 20B in the direction perpendicular tothe central axis S.

The calibration test unit 22 is to calibrate and examine the inspectionunit 20 (the flaw detection sensor 20A and the image-capturing sensor20B). As illustrated in FIGS. 3 to 5, the calibration test unit 22 isprovided on the calibration test unit forward/backward moving mechanism23. This calibration test unit 22 includes the calibration test piecefor the flaw detection sensor 22A calibrating each of the flaw detectionsensors 20A and the calibration test piece for the image-capturingsensor 22B calibrating the image-capturing sensor 20B.

The calibration test unit forward/backward moving mechanism 23 moves thecalibration test unit 22 to the forward or the backward in the directionalong the central axis S. As illustrated in FIGS. 3 to 5, thecalibration test unit forward/backward moving mechanism 23 is providedon the device frame 2. Therefore, the calibration test unitforward/backward moving mechanism 23 and the calibration test unit 22 donot affect rotation movement and slide movement of the rotation movingmechanism 15 and the slide moving mechanism 18 explained above. Thecalibration test unit forward/backward moving mechanism 23 includes afixed base 23 a, slide rails 23 b, a slide base 23 c, and an actuator 23d. The fixed base 23 a is fixed to the device frame 2. The pair of sliderails 23 b are provided to extend in parallel to the central axis S. Theslide base 23 c supports the calibration test unit 22, and is providedto be able to move in the direction in which the slide rails 23 bextend. The actuator 23 d is fixed to the fixed base 23 a, and iscoupled with the slide base 23 c. The actuator 23 d is to move the slidebase 23 c in the direction in which the slide rails 23 b extend, and inthe present embodiment, the actuator 23 d is made of an air pressurecylinder. However, the actuator 23 d is not limited to the air pressurecylinder. Anything may be employed as long as it moves the slide base 23c in the direction in which the slide rails 23 b extend. The calibrationtest unit forward/backward moving mechanism 23 drives the actuator 23 dto move, to the forward or the backward, the slide base 23 c as well asthe calibration test unit 22 (each of the calibration test piece for theflaw detection sensor 22A and the calibration test piece for theimage-capturing sensor 22B) in a straight track parallel to the centralaxis S (see FIG. 11 to FIG. 15).

In this case, the calibration test unit 22 supported by the slide base23 c arranges the position of each of the calibration test piece for theflaw detection sensor 22A and the calibration test piece for theimage-capturing sensor 22B in such a manner that the position of each ofthe calibration test piece for the flaw detection sensor 22A and thecalibration test piece for the image-capturing sensor 22B is alignedwith the position where each of the flaw detection sensors 20A and theimage-capturing sensor 20B of the inspection unit 20 explained above isabove the device frame 2 in the vertical direction and faces the innersurfaces of the nozzles 101 c, 101 d which is the inspection targetportion. For this reason, as illustrated in FIGS. 11 and 14, in theforward-moved state with the calibration test unit forward/backwardmoving mechanism 23, each of the calibration test piece for the flawdetection sensor 22A and the calibration test piece for theimage-capturing sensor 22B matches the position where each of the flawdetection sensor 20A and the image-capturing sensor 20B faces the innersurfaces of the nozzles 101 c, 101 d which is the inspection targetportion with regard to the track of the push-out movement of theinspection unit 20 (the flaw detection sensor 20A and theimage-capturing sensor 20B). As illustrated in FIGS. 14 and 15, in theforward-moved state with the calibration test unit forward/backwardmoving mechanism 23, the calibration test unit 22 is arranged to bealigned with the position of a distance L2 which is the same as adistance L1 when the image-capturing sensor 20B captures images of theinner surfaces of the nozzles 101 c, 101 d.

Hereinafter, inspection procedure (inspection method) with theinspection device 1 will be explained. FIGS. 11 to 15 illustrate thatthe device frame 2 inserted into the predetermined position inside ofthe nozzles 101 c, 101 d is positioned by the external abutment members3, and the central (central axis S) position of the device frame 2 isaligned with the central position of the nozzles 101 c, 101 d by theinternal abutment members 4, and this state is maintained by the suctionunits 5. The rotation moving mechanism 15 is set so that each of theflaw detection sensors 20A and the image-capturing sensor 20B of theinspection unit 20 is at a position (reference position) where they facethe upper side of the device frame 2 in the vertical direction.

Then, when the flaw detection sensor 20A performs the flaw detectioninspection, the slide moving mechanism 18 makes slide movement inparallel to the central axis S, so that each of the flaw detectionsensors 20A of the inspection unit 20 is at the position below thegroove welded portion 122 in the vertical direction as illustrated inFIG. 11. In this state, the calibration test unit forward/backwardmoving mechanism 23 moves the calibration test unit 22 forward.Accordingly, at the reference position where the inspection device 1 isinserted into the inside of the nozzles 101 c, 101 d, each of thecalibration test pieces for the flaw detection sensors 22A are arrangedon the track where each of the flaw detection sensors 20A makes push-outmovement to the inner surfaces of the nozzles 101 c, 101 d.Subsequently, as illustrated in FIG. 12, the flaw detection sensorpush-out moving mechanism 21A pushes out and moves the flaw detectionsensors 20A in the direction perpendicular to the central axis S to makethe flaw detection sensors 20A be in contact with the calibration testpieces for the flaw detection sensors 22A, respectively. Subsequently,the rotation moving mechanism 15 rotates and moves the flaw detectionsensors 20A about the central axis S and perform flaw detection on thecalibration test pieces for the flaw detection sensors 22A. Accordingly,on the basis of each of the calibration test pieces for the flawdetection sensors 22A, each of the flaw detection sensors 20A iscalibrated and tested. Subsequently, as illustrated in FIG. 13, thecalibration test unit forward/backward moving mechanism 23 moves thecalibration test unit 22 backward. Subsequently, the inspection unitpush-out moving mechanism 21 and flaw detection sensor push-out movingmechanism 21A pushes out and moves each of the flaw detection sensors20A in the direction perpendicular to the central axis S to make each ofthe flaw detection sensors 20A be in contact with the inner surfaces ofthe nozzles 101 c, 101 d (groove welded portion 122). Subsequently, therotation moving mechanism 15 rotates and moves each of the flawdetection sensors 20A about the central axis S, and the flaw detectionis performed on the inner surfaces of the nozzles 101 c, 101 d.Therefore, each of the flaw detection sensors 20A performs the flawdetection inspection. Subsequently, as illustrated in FIGS. 11 and 12,on the basis of each of the calibration test pieces for the flawdetection sensors 22A, each of the flaw detection sensors 20A iscalibrated and tested after the inspection.

When the visual inspection is performed with image-capturing sensor 20B,the slide moving mechanism 18 makes slide movement in parallel to thecentral axis S so that the image-capturing sensor 20B of the inspectionunit 20 is at the position below the groove welded portion 122 in thevertical direction as illustrated in FIG. 14. In this state, thecalibration test unit forward/backward moving mechanism 23 moves thecalibration test unit 22 forward. Accordingly, at the reference positionwhere the inspection device 1 is inserted into the inside of the nozzles101 c, 101 d, the calibration test piece for the image-capturing sensor22B is arranged on the track where the image-capturing sensor 20B makespush-out movement to the inner surfaces of the nozzles 101 c, 101 d.Therefore, on the basis of the calibration test piece for theimage-capturing sensor 22B, the image-capturing sensor 20B is calibratedand tested. Subsequently, as illustrated in FIG. 15, the calibrationtest unit forward/backward moving mechanism 23 moves the calibrationtest unit 22 backward. Subsequently, the inspection unit push-out movingmechanism 21 and the image-capturing sensor push-out moving mechanism21B push out and move the image-capturing sensor 20B in the directionperpendicular to the central axis S. Subsequently, the rotation movingmechanism 15 rotates and moves the image-capturing sensor 20B about thecentral axis S, and images of the inner surfaces of the nozzles 101 c,101 d are captured. Accordingly, visual inspection is performed withvideo taken by the image-capturing sensor 20B. Subsequently, asillustrated in FIG. 14, on the basis of the calibration test piece forthe image-capturing sensor 22B, the image-capturing sensor 20B iscalibrated and tested after the inspection.

As described above, an inspection method of the present embodiment is aninspection method for inspecting a body, which is to be inspected, whichis provided in the nuclear power plant, and the inspection methodincludes a step of arranging the inspection device 1 having theinspection unit 20 and the calibration test unit 22 at the referenceposition where the body which is to be inspected is inspected, a step ofsubsequently moving the calibration test unit 22 forward or backwardwith regard to the track where the inspection unit 20 makes push-outmovement to the inspection target portion of the body which is to beinspected, and calibrating the inspection unit 20, and a step ofsubsequently causing the inspection unit 20 to inspect the inspectiontarget portion.

According to the inspection method, when the inspection target portionof the body which is to be inspected is inspected, the inspection unit20 can be calibrated and tested on the track where the inspection unit20 makes push-out movement. As a result, the inspection and calibrationcan be performed without moving the inspection device 1 from theprocessed position. Therefore, highly reliable inspection result can beobtained from accurate calibration. Moreover, since the inspection unit20 is calibrated and tested within the range that the inspection unit 20can make push-out movement, the inspection unit 20 can be calibrated andtested even in a location where the condition is limited in which theinspection unit 20 can make push-out movement.

An inspection method of the present embodiment is an inspection methodfor inspecting the inner surfaces of the nozzles 101 c, 101 d providedin the reactor vessel 101, and the inspection method includes a step ofinserting the inspection device 1 including the inspection unit 20 andthe calibration test unit 22 into the inside of the nozzles 101 c, 101d, a step of subsequently moving the calibration test unit 22 forward orbackward with regard to the track where the inspection unit 20 makespush-out movement to the inner surfaces of the nozzles 101 c, 101 d atthe reference position where the inspection device 1 is inserted intothe inside of the nozzles 101 c, 101 d, and calibrating the inspectionunit 20, and a step of subsequently causing the inspection unit 20 toinspect the inner surfaces of the nozzles 101 c, 101 d.

According to the inspection method, when the inner surfaces of thenozzles 101 c, 101 d provided on the reactor vessel 101 is inspected,the inspection unit 20 can be calibrated and tested on the track wherethe inspection unit 20 makes push-out movement. As a result, theinspection and calibration can be performed without moving theinspection device 1 from the processed position. Therefore, highlyreliable inspection result can be obtained from accurate calibration.

The inspection method of the present embodiment further includes, afterthe step of causing the inspection unit 20 to inspect the inner surfacesof the nozzles 101 c, 101 d, a step of moving the calibration test unit22 forward or backward with regard to the track where the inspectionunit 20 makes push-out movement to the inner surfaces of the nozzles 101c, 101 d at the reference position and calibrating the inspection unit20 after the inspection.

According to the inspection method, after the inner surfaces of thenozzles 101 c, 101 d provided in the reactor vessel 101 are inspected,the inspection unit 20 can be calibrated and tested on the track wherethe inspection unit 20 makes push-out movement. As a result, thecalibration can be performed after the inspection without moving theinspection device 1 from the processed position. Therefore, highlyreliable inspection result can be obtained from accurate calibration.

The inspection device 1 of the present embodiment is an inspectiondevice for inspecting a body, which is to be inspected, provided in thenuclear power plant, and the inspection device 1 includes the deviceframe 2 installed at the reference position for inspecting the bodywhich is to be inspected, the inspection unit 20 provided on the deviceframe 2 for inspecting the inspection target portion of the body whichis to be inspected, the inspection unit push-out moving mechanism 21 forpushing out and moving the inspection unit 20 to the inspection targetportion while the device frame 2 is installed at the reference position,the calibration test unit 22 provided on the device frame 2 forcalibrating the inspection unit 20, and the calibration test unitforward/backward moving mechanism 23 for moving the calibration testunit 22 forward or backward with regard to the track where theinspection unit 20 makes push-out movement in such a state that theinspection unit 20 is installed at the reference position.

According to this inspection device, when the inspection target portionof the body which is to be inspected is inspected, the inspection unit20 can be calibrated and tested on the track where the inspection unit20 makes push-out movement. As a result, the inspection and calibrationcan be performed without moving the inspection device 1 from theprocessed position. Therefore, highly reliable inspection result can beobtained from accurate calibration. Moreover, since the inspection unit20 is calibrated and tested within the range that the inspection unit 20can make push-out movement, the footprint is reduced, and the inspectionunit 20 can be calibrated and tested even in a location where thecondition is limited in which the inspection unit 20 can make push-outmovement. Further, the calibration test unit 22 can be moved forward andbackward with regard to the track where the inspection unit 20 makespush-out movement, and therefore, the device configuration issimplified, and the footprint is reduced, and the size of the device canbe reduced.

The inspection device 1 of the present embodiment is the inspectiondevice 1 for inspecting the inner surfaces of the nozzles 101 c, 101 dprovided in the reactor vessel 101, and the inspection device 1 includesthe device frame 2 inserted into the inside of the nozzles 101 c, 101 d,the inspection unit 20 provided on the device frame 2 for inspecting theinner surfaces of the nozzles 101 c, 101 d, the inspection unit push-outmoving mechanism 21 for pushing out and moving the inspection unit 20 tothe inner surfaces of the nozzles 101 c, 101 d while the device frame 2is installed in the inside of the nozzles 101 c, 101 d, the rotationmoving mechanism 15 for rotating and moving the inspection unit 20 abouta predetermined central axis S along a peripheral direction of thenozzles 101 c, 101 d while the device frame 2 is installed in the insideof the nozzles 101 c, 101 d, the calibration test unit 22 arranged onthe device frame 2 for calibrating the inspection unit 20, and acalibration test unit forward/backward moving mechanism 23 for movingthe calibration test unit 22 forward or backward in the direction alongthe central axis S with regard to the track where the inspection unit 20makes push-out movement.

According to this inspection device 1, when the inner surfaces of thenozzles 101 c, 101 d provided in the reactor vessel 101 are inspected,the inspection unit 20 can be calibrated and tested on the track wherethe inspection unit 20 makes push-out movement. As a result, theinspection and calibration can be performed without moving theinspection device 1 from the processed position. Therefore, highlyreliable inspection result can be obtained from accurate calibration.

In the inspection device 1 of the present embodiment, the inspectionunit 20 has at least one of the flaw detection sensor 20A coming intocontact with the inner surfaces of the nozzles 101 c, 101 d andperforming flaw detection and the image-capturing sensor 20B forcapturing an image of the inner surfaces of the nozzles 101 c, 101 d,and the calibration test unit 22 has at least one of the calibrationtest piece for the flaw detection sensor 22A for calibrating the flawdetection sensor 20A and the calibration test piece for theimage-capturing sensor 22B for calibrating the image-capturing sensor20B.

According to this inspection device 1, in at least one of the flawdetection inspection with the flaw detection sensor 20A and the visualinspection with the image-capturing sensor 20B, the inspection andcalibration can be performed without moving the inspection device 1 fromthe processed position. Therefore, highly reliable inspection result canbe obtained from accurate calibration.

In the inspection device 1 of the present embodiment, the inspectionunit 20 has the flaw detection sensor 20A that comes into contact withthe inner surfaces of the nozzles 101 c, 101 d and performs flawdetection and the image-capturing sensor 20B for capturing images of theinner surfaces of the nozzles 101 c, 101 d, which are arranged in a rowalong the central axis S, and the calibration test unit 22 has thecalibration test piece for the flaw detection sensor 22A for calibratingthe flaw detection sensor 20A and the calibration test piece for theimage-capturing sensor 22B for calibrating the image-capturing sensor20B, which are arranged along the central axis S in alignment with theposition where the flaw detection sensor 20A and the image-capturingsensor 20B are arranged in a row.

According to this inspection device 1, the calibration test piece forthe flaw detection sensor 22A and the calibration test piece for theimage-capturing sensor 22B are arranged along the central axis S inalignment with the position where the flaw detection sensor 20A and theimage-capturing sensor 20B are arranged in a row, and therefore, thecalibration test unit forward/backward moving mechanism 23 for movingthem forward or backward can be provided as a common configuration, sothat both calibration tests can be performed with one mechanism and withone operation, and in addition, this can reduce the size of the device.

In the inspection device 1 of the present embodiment, the calibrationtest unit 22 is arranged to be aligned with the position of a distanceL2 which is the same as a distance L1 when the image-capturing sensor20B captures images of the inner surfaces of the nozzles 101 c, 101 d,while the inspection device 1 is installed in the inside of the nozzles101 c, 101 d.

According to this inspection device 1, the image-capturing sensor 20Bcan be calibrated under the same condition as the case of the visualinspection performed with the image-capturing sensor 20B, and still morehighly reliable inspection result can be obtained from still moreaccurate calibration.

By the way, FIG. 16 is a top view illustrating the calibration testpiece for the flaw detection sensor. FIG. 17 is a side view illustratingthe calibration test piece for the flaw detection sensor. FIG. 18 is aside view illustrating the calibration test piece for the flaw detectionsensor. FIG. 19 is a top view illustrating another example of thecalibration test piece for the flaw detection sensor. FIG. 20 is a topview illustrating another example of the calibration test piece for theflaw detection sensor. FIG. 21 is a top view illustrating thecalibration test piece for the image-capturing sensor. FIG. 22 is a sideview illustrating the calibration test piece for the image-capturingsensor.

The calibration test piece for the flaw detection sensor 22A as shown inFIGS. 16 to 20 corresponds to one flaw detection sensor 20A. Thecalibration test piece for the flaw detection sensor 22A as shown inFIGS. 16 and 17 has a test surface 22Aa having such a curvature that thecentral axis S is the center. The test surface 22Aa is a surface withwhich the flaw detection sensor 20A comes into contact, and thecalibration groove 22Ab is a surface formed perpendicular to thescanning direction of the flaw detection sensor 20A. When thecalibration test unit forward/backward moving mechanism 23 moves thecalibration test unit 22 forward, the groove 22Ab is formed to bearranged in the center of the scanning direction of the flaw detectionsensor 20A. Therefore, sufficient scanning space for the flaw detectionsensor 20A can be ensured from the groove 22Ab to both ends of the testsurface 22Aa.

Therefore, when the test surface 22Aa having such a curvature that thecentral axis S is the center is provided just like the calibration testpiece for the flaw detection sensor 22A as shown in FIGS. 16 and 17, thescanning of the inner surfaces of the nozzles 101 c, 101 d with the flawdetection sensor 20A and the scanning of the calibration test piece forthe flaw detection sensor 22A are of the same condition. As a result,still more highly reliable inspection result can be obtained from stillmore accurate calibration.

In the inspection device 1 of the present embodiment, two flaw detectionsensors 20A are provided in a row along the peripheral direction of theinner surfaces of the nozzles 101 c, 101 d which is the inspectiontarget portion. Therefore, as illustrated in FIG. 18, two calibrationtest pieces for the flaw detection sensors 22A are arranged in a row inassociation with the flaw detection sensors 20A, and each has the testsurface 22Aa having such a curvature that the central axis S is thecenter with the two of them. Therefore, the scanning of the innersurfaces of the nozzles 101 c, 101 d with each of the flaw detectionsensors 20A and the scanning of each of the calibration test pieces forthe flaw detection sensors 22A are of the same condition. As a result,still more highly reliable inspection result can be obtained from stillmore accurate calibration. This can also be applied to the calibrationtest piece for the flaw detection sensor 22A as shown in FIGS. 19 and20.

In the calibration test piece for the flaw detection sensor 22A as shownin FIG. 19, the inspection target portion is a welded portion (groovewelded portion 122) of the inner surfaces of the nozzles 101 c, 101 d,and the calibration test piece is formed to imitate the material and theform of the welded portion and the portion therearound. Morespecifically, as illustrated in FIG. 19, on the surface of the groovewelded portion 122, there is a safe-end tube 121 made of stainless steelat one side in the direction along the central axis S, and there is abuttering welded portion 123 at the other side, and there is an overlaywelded portion 124 at the still other side of the buttering weldedportion 123. Inside of the cross section of the overlay welded portion124, there is low-alloy steel which is the material of the nozzles 101c, 101 d. The calibration test piece for the flaw detection sensor 22Aas shown in FIG. 19 is formed to imitate the material and the form ofthe groove welded portion 122 and the portion therearound.

Therefore, when the material and the form of the welded portion and theportion therearound are imitated just like the calibration test piecefor the flaw detection sensor 22A as shown in FIG. 19, calibration isperformed in a state similar to actual inspection. When the groove 22Acis also formed around the welded portion (groove welded portion 122) asindicated by an alternate long and short dashed line of FIG. 19,evaluation can be performed even when failure (crack) is found aroundthe welded portion.

In FIG. 20, the calibration test piece for the flaw detection sensor 22Ais formed with multiple types of grooves 22Ab, 22Ad of which depths andextension directions are different. For example, the groove 22Ab isformed perpendicular to the scanning direction of the flaw detectionsensor 20A, and the groove 22Ad is formed along the scanning directionof the flaw detection sensor 20A. Both sides of the grooves 22Ab aregrooves which are considered to have ordinary failure (crack) having,e.g., a width of 0.5 mm, the second from the left is a groove which isconsidered to have deep failure (crack) having, e.g., a width of 1.0 mm,and the second from the right is a groove which is considered to havestill deeper failure (crack) having, e.g., a width of 3.0 mm. It shouldbe noted that the calibration test piece for the flaw detection sensor22A as shown in FIG. 20 imitates the material and the form of the weldedportion and the portion therearound just like FIG. 19. However, thecalibration test piece for the flaw detection sensor 22A as shown inFIG. 20 may not imitate the material and the form of the welded portionand the portion therearound just like FIG. 19.

Therefore, when multiple types of grooves 22Ab, 22Ad of which depths andextension directions are different are formed just like the calibrationtest piece for the flaw detection sensor 22A as shown in FIG. 20,evaluation can be performed even when unexpected failure (crack) isfound.

The calibration test piece for the image-capturing sensor 22B as shownin FIGS. 21 and 22 has the test surface 22Ba having such a curvaturethat the central axis S is the center. The test surface 22Ba is asurface of which image is captured by the image-capturing sensor 20B,and is a surface formed with a scale 22Bc which is an index of size andone mm wire 22Bb which is an image-capturing range (indicated by a chaindouble-dashed line) of the image-capturing sensor 20B.

Therefore, when the test surface 22Ba having such a curvature that thecentral axis S is the center is provided just like the calibration testpiece for the image-capturing sensor 22B as shown in FIGS. 21 and 22,the inner surfaces of the nozzles 101 c, 101 d captured by theimage-capturing sensor 20B and the test surface 22Ba of the calibrationtest piece for the image-capturing sensor 22B are of the same condition.As a result, still more highly reliable inspection result can beobtained from still more accurate calibration.

According to an embodiment of inspection method, when the inspectiontarget portion of the body which is to be inspected is inspected, theinspection unit can be calibrated and tested on the track where theinspection unit makes push-out movement. As a result, the inspection andcalibration can be performed without moving the inspection device fromthe processed position. Therefore, highly reliable inspection result canbe obtained from accurate calibration. Moreover, since the inspectionunit is calibrated and tested within the range that the inspection unitcan make push-out movement, the inspection unit can be calibrated andtested even in a location where the condition is limited in which theinspection unit can make push-out movement.

According to an embodiment of inspection method, when the inner surfacesof the nozzles provided on the reactor vessel is inspected, theinspection unit can be calibrated and tested on the track where theinspection unit makes push-out movement. As a result, the inspection andcalibration can be performed without moving the inspection device fromthe processed position. Therefore, highly reliable inspection result canbe obtained from accurate calibration.

According to an embodiment of inspection method, after the innersurfaces of the nozzles provided in the reactor vessel are inspected,the inspection unit can be calibrated and tested on the track where theinspection unit makes push-out movement. As a result, the calibrationcan be performed after the inspection without moving the inspectiondevice from the processed position. Therefore, highly reliableinspection result can be obtained from accurate calibration.

According to an embodiment of inspection device, when the inspectiontarget portion of the body which is to be inspected is inspected, theinspection unit can be calibrated and tested on the track where theinspection unit makes push-out movement. As a result, the inspection andcalibration can be performed without moving the inspection device fromthe processed position. Therefore, highly reliable inspection result canbe obtained from accurate calibration. Moreover, since the inspectionunit is calibrated and tested within the range that the inspection unitcan make push-out movement, the footprint is reduced, and the inspectionunit can be calibrated and tested even in a location where the conditionis limited in which the inspection unit can make push-out movement.Further, the calibration test unit can be moved forward and backwardwith regard to the track where the inspection unit makes push-outmovement, and therefore, the device configuration is simplified, and thefootprint is reduced, and the size of the device can be reduced.

According to an embodiment of inspection device, when the inner surfacesof the nozzles provided in the reactor vessel are inspected, theinspection unit can be calibrated and tested on the track where theinspection unit makes push-out movement. As a result, the inspection andcalibration can be performed without moving the inspection device fromthe processed position. Therefore, highly reliable inspection result canbe obtained from accurate calibration.

According to an embodiment of inspection device, in at least one of theflaw detection inspection with the flaw detection sensor and the visualinspection with the image-capturing sensor, the inspection andcalibration can be performed without moving the inspection device fromthe processed position. Therefore, highly reliable inspection result canbe obtained from accurate calibration.

According to an embodiment of inspection device, the calibration testpiece for the flaw detection sensor and the calibration test piece forthe image-capturing sensor are arranged along the central axis inalignment with the position where the flaw detection sensor and theimage-capturing sensor are arranged in a row, and therefore, thecalibration test unit forward/backward moving mechanism for moving themforward or backward can be provided as a common configuration, so thatboth calibration tests can be performed with one mechanism and with oneoperation, and in addition, this can reduce the size of the device.

According to an embodiment of inspection device, the image-capturingsensor can be calibrated under the same condition as the case of thevisual inspection performed with the image-capturing sensor, and stillmore highly reliable inspection result can be obtained from still moreaccurate calibration.

According to an embodiment of inspection device, when the test surfacehaving such a curvature that the central axis is the center is provided,the inspection of the inner surfaces of the nozzles with the inspectionunit and the calibration test with the calibration test unit are of thesame condition. As a result, still more highly reliable inspectionresult can be obtained from still more accurate calibration.

According to an embodiment of inspection device, when the material andthe form of the welded portion and the portion therearound are imitated,calibration can be performed in a state similar to actual inspection.

According to an embodiment of inspection device, when multiple types ofgrooves of which depths and extension directions are different areformed, evaluation can be performed even when unexpected failure (crack)is found.

Advantageous Effects of Invention

According to the embodiments of the present invention, the inspectionand calibration can be performed without moving the device from theprocessed position.

REFERENCE SIGNS LIST

-   -   1 inspection device    -   2 device frame    -   3 external abutment member    -   4 internal abutment member    -   5 suction unit    -   6 abutment detection unit    -   7 image-capturing unit    -   15 rotation moving mechanism    -   18 slide moving mechanism    -   20 inspection unit    -   20A flaw detection sensor    -   20B image-capturing sensor    -   21 inspection unit push-out moving mechanism    -   21A flaw detection sensor push-out moving mechanism    -   21B image-capturing sensor push-out moving mechanism    -   22 calibration test unit    -   22A calibration test piece for flaw detection sensor    -   22Aa test surface    -   22B the calibration test piece for the image-capturing sensor        -   22Ba test surface        -   23 calibration test unit forward/backward moving mechanism        -   101 reactor vessel        -   101 c, 101 d nozzle

1. An inspection device for inspecting a body which is to be inspected,the body being provided in a nuclear power plant, the inspection devicecomprising: a device frame installed at the reference position forinspecting the body; an inspection unit provided on the device frame,for inspecting the inspection target portion of the body; an inspectionunit push-out moving mechanism for pushing out and moving the inspectionunit to the inspection target portion while the device frame isinstalled at the reference position; a calibration test unit provided onthe device frame, for calibrating the inspection unit; and a calibrationtest unit forward/backward moving mechanism for moving the calibrationtest unit forward or backward with regard to a track where theinspection unit makes push-out movement in such a state that theinspection unit is installed at the reference position.
 2. An inspectiondevice for inspecting an inner surface of a nozzle provided in a reactorvessel, the inspection device comprising: a device frame inserted intoinside of the nozzle; an inspection unit provided on the device frame,for inspecting the inner surface of the nozzle; an inspection unitpush-out moving mechanism for pushing out and moving the inspection unitto the inner surface of the nozzle while the device frame is installedin the inside of the nozzle; a rotation moving mechanism for rotatingand moving the inspection unit about a predetermined central axis alonga peripheral direction of the nozzle while the device frame is installedin the inside of the nozzle; a calibration test unit arranged on thedevice frame for calibrating the inspection unit; and a calibration testunit forward/backward moving mechanism for moving the calibration testunit forward or backward in the direction along the central axis withregard to a track where the inspection unit makes push-out movement. 3.The inspection device according to claim 2, wherein the inspection unitincludes: at least one of a flaw detection sensor coming into contactwith the inner surface of the nozzle and performing flaw detection; andan image-capturing sensor for capturing an image of the inner surface ofthe nozzle, and the calibration test unit includes: at least one of acalibration test piece for the flaw detection sensor for calibrating theflaw detection sensor; and a calibration test piece for theimage-capturing sensor for calibrating the image-capturing sensor. 4.The inspection device according to claim 2, wherein the inspection unitincludes a flaw detection sensor that comes into contact with the innersurface of the nozzle and performs flaw detection and an image-capturingsensor for capturing an image of the inner surface of the nozzle, whichare arranged in a row along the central axis, and the calibration testunit includes: a calibration test piece for the flaw detection sensorfor calibrating the flaw detection sensor and a calibration test piecefor the image-capturing sensor for calibrating the image-capturingsensor, which are arranged along the central axis in alignment with aposition where the flaw detection sensor and the image-capturing sensorare arranged in a row.
 5. The inspection device according to claim 3,wherein the calibration test unit is arranged to be aligned with theposition of a distance which is the same as a distance when theimage-capturing sensor captures an image of the inner surface of thenozzle while the inspection device is installed in the inside of thenozzle.
 6. The inspection device according to claim 3, wherein thecalibration test piece has a test surface having such a curvature thatthe central axis is a center.
 7. The inspection device according toclaim 3, wherein the inspection target portion is a welded portion ofthe inner surface of the nozzle and the calibration test piece for theflaw detection sensor is formed to imitate a material and a form of thewelded portion and a portion therearound.
 8. The inspection deviceaccording to claim 3, wherein the calibration test piece for the flawdetection sensor is provided with multiple types of grooves of whichdepths and extension directions are different.